/// Initialize again this constraint.
public override void Reset(Ta mobjA,
Tb mobjB,
collision.ChCollisionInfo cinfo)
{
// Base method call:
base.Reset(mobjA, mobjB, cinfo);
ChBody oA = (this.objA as ChBody);
ChBody oB = (this.objB as ChBody);
Rx.Get_tuple_a().SetVariables(ref this.objA);
Rx.Get_tuple_b().SetVariables(ref this.objB);
Ru.Get_tuple_a().SetVariables(ref this.objA);
Ru.Get_tuple_b().SetVariables(ref this.objB);
Rv.Get_tuple_a().SetVariables(ref this.objA);
Rv.Get_tuple_b().SetVariables(ref this.objB);
// Calculate composite material properties
ChMaterialCompositeNSC mat = new ChMaterialCompositeNSC(
this.container.GetSystem().composition_strategy,
(ChMaterialSurfaceNSC)oA.GetMaterialSurfaceBase(),
(ChMaterialSurfaceNSC)oB.GetMaterialSurfaceBase());
Rx.SetRollingFrictionCoefficient(mat.rolling_friction);
Rx.SetSpinningFrictionCoefficient(mat.spinning_friction);
this.complianceRoll = mat.complianceRoll;
this.complianceSpin = mat.complianceSpin;
// COMPUTE JACOBIANS
// delegate objA to compute its half of jacobian
oA.ComputeJacobianForRollingContactPart(this.p1, ref this.contact_plane, ref Rx.Get_tuple_a(),
ref Ru.Get_tuple_a(), ref Rv.Get_tuple_a(), false);
// delegate objB to compute its half of jacobian
oB.ComputeJacobianForRollingContactPart(this.p2, ref this.contact_plane, ref Rx.Get_tuple_b(),
ref Ru.Get_tuple_b(), ref Rv.Get_tuple_b(), true);
this.react_torque = ChVector.VNULL;
}
